Delayed copy rotation...?
You can bake the motion to an empty and then edit the keyframes.


Add an empty.
Parent the empty to the vehicle and the camera to the empty.
Go to Object > Animation > Bake and simply check all the boxes, then press bake.
Now that the motion has been transfered onto the empty, open the graph editor and select the empty. You can edit the keyframes by selecting them and pressing &#9095; AltO to smooth them or move them to a later frame with GX >  LMB confirm